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<div class="title">feature_histogram.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
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<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2014-, Open Perception, Inc.</span></div>
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<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="preprocessor">#ifndef PCL_FEATURE_HISTOGRAM_H_</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#define PCL_FEATURE_HISTOGRAM_H_</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160; </div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#include &lt;vector&gt;</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160; </div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &lt;pcl/pcl_macros.h&gt;</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160; </div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;{ </div>
<div class="line"><a name="l00051"></a><span class="lineno"><a class="line" href="classpcl_1_1_feature_histogram.html">   51</a></span>&#160;  <span class="keyword">class </span>PCL_EXPORTS <a class="code" href="classpcl_1_1_feature_histogram.html">FeatureHistogram</a></div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;  {</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00059"></a><span class="lineno"><a class="line" href="classpcl_1_1_feature_histogram.html#ababf2250262d7e23e41d2db408f4fc20">   59</a></span>&#160;      <a class="code" href="classpcl_1_1_feature_histogram.html#ababf2250262d7e23e41d2db408f4fc20">FeatureHistogram</a> (<span class="keyword">const</span> <span class="keywordtype">size_t</span> number_of_bins, <span class="keyword">const</span> <span class="keywordtype">float</span> min,</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;          <span class="keyword">const</span> <span class="keywordtype">float</span> max);</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160; </div>
<div class="line"><a name="l00063"></a><span class="lineno"><a class="line" href="classpcl_1_1_feature_histogram.html#a30db3dc5ad5d3dff7bf414a2ef7d7979">   63</a></span>&#160;      <span class="keyword">virtual</span> <a class="code" href="classpcl_1_1_feature_histogram.html#a30db3dc5ad5d3dff7bf414a2ef7d7979">~FeatureHistogram</a> ();</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160; </div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;      <span class="keywordtype">float</span></div>
<div class="line"><a name="l00069"></a><span class="lineno"><a class="line" href="classpcl_1_1_feature_histogram.html#a93a1fd037b17ff64f4760854fef7aca4">   69</a></span>&#160;      <a class="code" href="classpcl_1_1_feature_histogram.html#a93a1fd037b17ff64f4760854fef7aca4">getThresholdMin</a> () <span class="keyword">const</span>;</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160; </div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;      <span class="keywordtype">float</span></div>
<div class="line"><a name="l00075"></a><span class="lineno"><a class="line" href="classpcl_1_1_feature_histogram.html#adcf0a7f01da63ee3935e3301645c0c4e">   75</a></span>&#160;      <a class="code" href="classpcl_1_1_feature_histogram.html#adcf0a7f01da63ee3935e3301645c0c4e">getThresholdMax</a> () <span class="keyword">const</span>;</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160; </div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;      <span class="keywordtype">size_t</span></div>
<div class="line"><a name="l00081"></a><span class="lineno"><a class="line" href="classpcl_1_1_feature_histogram.html#a223cac287f8675301691841a341161dd">   81</a></span>&#160;      <a class="code" href="classpcl_1_1_feature_histogram.html#a223cac287f8675301691841a341161dd">getNumberOfElements</a> () <span class="keyword">const</span>;</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160; </div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;      <span class="keywordtype">size_t</span></div>
<div class="line"><a name="l00087"></a><span class="lineno"><a class="line" href="classpcl_1_1_feature_histogram.html#aee020cb8509aecad12f8f31149cc6ec0">   87</a></span>&#160;      <a class="code" href="classpcl_1_1_feature_histogram.html#aee020cb8509aecad12f8f31149cc6ec0">getNumberOfBins</a> () <span class="keyword">const</span>;</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160; </div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00093"></a><span class="lineno"><a class="line" href="classpcl_1_1_feature_histogram.html#ad9b3baa2fa76495e21ba610ebb2e21f0">   93</a></span>&#160;      <a class="code" href="classpcl_1_1_feature_histogram.html#ad9b3baa2fa76495e21ba610ebb2e21f0">addValue</a> (<span class="keywordtype">float</span> value);</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160; </div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;      <span class="keywordtype">float</span></div>
<div class="line"><a name="l00099"></a><span class="lineno"><a class="line" href="classpcl_1_1_feature_histogram.html#a596ad0faa7a625d8789fbcb1c3f14db2">   99</a></span>&#160;      <a class="code" href="classpcl_1_1_feature_histogram.html#a596ad0faa7a625d8789fbcb1c3f14db2">getMeanValue</a> ();</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160; </div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;      <span class="keywordtype">float</span></div>
<div class="line"><a name="l00105"></a><span class="lineno"><a class="line" href="classpcl_1_1_feature_histogram.html#a8714bfebf5bfbc3ea85f43184fdf2d3f">  105</a></span>&#160;      <a class="code" href="classpcl_1_1_feature_histogram.html#a8714bfebf5bfbc3ea85f43184fdf2d3f">getVariance</a> (<span class="keywordtype">float</span> mean);</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160; </div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00109"></a><span class="lineno"><a class="line" href="classpcl_1_1_feature_histogram.html#afe06eb8dcbb036a55548b74ae964caae">  109</a></span>&#160;      std::vector &lt;unsigned&gt; <a class="code" href="classpcl_1_1_feature_histogram.html#afe06eb8dcbb036a55548b74ae964caae">histogram_</a>;</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160; </div>
<div class="line"><a name="l00112"></a><span class="lineno"><a class="line" href="classpcl_1_1_feature_histogram.html#a2d885dd8100b0a8e76064dacfda54dbd">  112</a></span>&#160;      <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1_feature_histogram.html#a2d885dd8100b0a8e76064dacfda54dbd">threshold_min_</a>;</div>
<div class="line"><a name="l00114"></a><span class="lineno"><a class="line" href="classpcl_1_1_feature_histogram.html#a16dd38755bc848930b9f040af03299be">  114</a></span>&#160;      <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1_feature_histogram.html#a16dd38755bc848930b9f040af03299be">threshold_max_</a>;</div>
<div class="line"><a name="l00116"></a><span class="lineno"><a class="line" href="classpcl_1_1_feature_histogram.html#ac6597908d2282dee29cb04494209da22">  116</a></span>&#160;      <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1_feature_histogram.html#ac6597908d2282dee29cb04494209da22">step_</a>;</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160; </div>
<div class="line"><a name="l00119"></a><span class="lineno"><a class="line" href="classpcl_1_1_feature_histogram.html#a7551771e701d90a07acbb6d016b5e303">  119</a></span>&#160;      <span class="keywordtype">size_t</span> <a class="code" href="classpcl_1_1_feature_histogram.html#a7551771e701d90a07acbb6d016b5e303">number_of_elements_</a>;</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160; </div>
<div class="line"><a name="l00122"></a><span class="lineno"><a class="line" href="classpcl_1_1_feature_histogram.html#a70b4d12e59af22fa9944da0c9f61ea2c">  122</a></span>&#160;      <span class="keywordtype">size_t</span> <a class="code" href="classpcl_1_1_feature_histogram.html#a70b4d12e59af22fa9944da0c9f61ea2c">number_of_bins_</a>;</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;  };</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;}</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;<span class="preprocessor">#endif </span><span class="comment">// PCL_FEATURE_HISTOGRAM_H_</span></div>
<div class="ttc" id="aclasspcl_1_1_feature_histogram_html"><div class="ttname"><a href="classpcl_1_1_feature_histogram.html">pcl::FeatureHistogram</a></div><div class="ttdoc">Type for histograms for computing mean and variance of some floats.</div><div class="ttdef"><b>Definition:</b> feature_histogram.h:52</div></div>
<div class="ttc" id="aclasspcl_1_1_feature_histogram_html_a16dd38755bc848930b9f040af03299be"><div class="ttname"><a href="classpcl_1_1_feature_histogram.html#a16dd38755bc848930b9f040af03299be">pcl::FeatureHistogram::threshold_max_</a></div><div class="ttdeci">float threshold_max_</div><div class="ttdoc">Max threshold.</div><div class="ttdef"><b>Definition:</b> feature_histogram.h:114</div></div>
<div class="ttc" id="aclasspcl_1_1_feature_histogram_html_a223cac287f8675301691841a341161dd"><div class="ttname"><a href="classpcl_1_1_feature_histogram.html#a223cac287f8675301691841a341161dd">pcl::FeatureHistogram::getNumberOfElements</a></div><div class="ttdeci">size_t getNumberOfElements() const</div><div class="ttdoc">Get the number of elements was added to the histogram.</div></div>
<div class="ttc" id="aclasspcl_1_1_feature_histogram_html_a2d885dd8100b0a8e76064dacfda54dbd"><div class="ttname"><a href="classpcl_1_1_feature_histogram.html#a2d885dd8100b0a8e76064dacfda54dbd">pcl::FeatureHistogram::threshold_min_</a></div><div class="ttdeci">float threshold_min_</div><div class="ttdoc">Min threshold.</div><div class="ttdef"><b>Definition:</b> feature_histogram.h:112</div></div>
<div class="ttc" id="aclasspcl_1_1_feature_histogram_html_a30db3dc5ad5d3dff7bf414a2ef7d7979"><div class="ttname"><a href="classpcl_1_1_feature_histogram.html#a30db3dc5ad5d3dff7bf414a2ef7d7979">pcl::FeatureHistogram::~FeatureHistogram</a></div><div class="ttdeci">virtual ~FeatureHistogram()</div><div class="ttdoc">Public destructor.</div></div>
<div class="ttc" id="aclasspcl_1_1_feature_histogram_html_a596ad0faa7a625d8789fbcb1c3f14db2"><div class="ttname"><a href="classpcl_1_1_feature_histogram.html#a596ad0faa7a625d8789fbcb1c3f14db2">pcl::FeatureHistogram::getMeanValue</a></div><div class="ttdeci">float getMeanValue()</div><div class="ttdoc">Get value, corresponds to the greatest bin.</div></div>
<div class="ttc" id="aclasspcl_1_1_feature_histogram_html_a70b4d12e59af22fa9944da0c9f61ea2c"><div class="ttname"><a href="classpcl_1_1_feature_histogram.html#a70b4d12e59af22fa9944da0c9f61ea2c">pcl::FeatureHistogram::number_of_bins_</a></div><div class="ttdeci">size_t number_of_bins_</div><div class="ttdoc">Number of bins.</div><div class="ttdef"><b>Definition:</b> feature_histogram.h:122</div></div>
<div class="ttc" id="aclasspcl_1_1_feature_histogram_html_a7551771e701d90a07acbb6d016b5e303"><div class="ttname"><a href="classpcl_1_1_feature_histogram.html#a7551771e701d90a07acbb6d016b5e303">pcl::FeatureHistogram::number_of_elements_</a></div><div class="ttdeci">size_t number_of_elements_</div><div class="ttdoc">Number of values was added to the histogram.</div><div class="ttdef"><b>Definition:</b> feature_histogram.h:119</div></div>
<div class="ttc" id="aclasspcl_1_1_feature_histogram_html_a8714bfebf5bfbc3ea85f43184fdf2d3f"><div class="ttname"><a href="classpcl_1_1_feature_histogram.html#a8714bfebf5bfbc3ea85f43184fdf2d3f">pcl::FeatureHistogram::getVariance</a></div><div class="ttdeci">float getVariance(float mean)</div><div class="ttdoc">Get variance of the value.</div></div>
<div class="ttc" id="aclasspcl_1_1_feature_histogram_html_a93a1fd037b17ff64f4760854fef7aca4"><div class="ttname"><a href="classpcl_1_1_feature_histogram.html#a93a1fd037b17ff64f4760854fef7aca4">pcl::FeatureHistogram::getThresholdMin</a></div><div class="ttdeci">float getThresholdMin() const</div><div class="ttdoc">Get the lower threshold.</div></div>
<div class="ttc" id="aclasspcl_1_1_feature_histogram_html_ababf2250262d7e23e41d2db408f4fc20"><div class="ttname"><a href="classpcl_1_1_feature_histogram.html#ababf2250262d7e23e41d2db408f4fc20">pcl::FeatureHistogram::FeatureHistogram</a></div><div class="ttdeci">FeatureHistogram(const size_t number_of_bins, const float min, const float max)</div><div class="ttdoc">Public constructor.</div></div>
<div class="ttc" id="aclasspcl_1_1_feature_histogram_html_ac6597908d2282dee29cb04494209da22"><div class="ttname"><a href="classpcl_1_1_feature_histogram.html#ac6597908d2282dee29cb04494209da22">pcl::FeatureHistogram::step_</a></div><div class="ttdeci">float step_</div><div class="ttdoc">&quot;Width&quot; of a bin.</div><div class="ttdef"><b>Definition:</b> feature_histogram.h:116</div></div>
<div class="ttc" id="aclasspcl_1_1_feature_histogram_html_ad9b3baa2fa76495e21ba610ebb2e21f0"><div class="ttname"><a href="classpcl_1_1_feature_histogram.html#ad9b3baa2fa76495e21ba610ebb2e21f0">pcl::FeatureHistogram::addValue</a></div><div class="ttdeci">void addValue(float value)</div><div class="ttdoc">Increase a bin, that corresponds the value.</div></div>
<div class="ttc" id="aclasspcl_1_1_feature_histogram_html_adcf0a7f01da63ee3935e3301645c0c4e"><div class="ttname"><a href="classpcl_1_1_feature_histogram.html#adcf0a7f01da63ee3935e3301645c0c4e">pcl::FeatureHistogram::getThresholdMax</a></div><div class="ttdeci">float getThresholdMax() const</div><div class="ttdoc">Get the upper threshold.</div></div>
<div class="ttc" id="aclasspcl_1_1_feature_histogram_html_aee020cb8509aecad12f8f31149cc6ec0"><div class="ttname"><a href="classpcl_1_1_feature_histogram.html#aee020cb8509aecad12f8f31149cc6ec0">pcl::FeatureHistogram::getNumberOfBins</a></div><div class="ttdeci">size_t getNumberOfBins() const</div><div class="ttdoc">Get number of bins in the histogram.</div></div>
<div class="ttc" id="aclasspcl_1_1_feature_histogram_html_afe06eb8dcbb036a55548b74ae964caae"><div class="ttname"><a href="classpcl_1_1_feature_histogram.html#afe06eb8dcbb036a55548b74ae964caae">pcl::FeatureHistogram::histogram_</a></div><div class="ttdeci">std::vector&lt; unsigned &gt; histogram_</div><div class="ttdoc">Vector, that contain the histogram.</div><div class="ttdef"><b>Definition:</b> feature_histogram.h:109</div></div>
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